Induction motor control system



May 3, 1949. J. w. DAWSON nmuc'nou MOTOR CONTROL SYSTEM Filed March 1, 1946 SERVO 24 AMPLIFIER F/Ci L MOTOR 3 I? 3 )0 AC. 2/ SOURCE Fla 3 1904,15)

56-52 couursrz- CLOCK WISE ROTATION OF Mom/2 6, (FOR BOTH DIRECTIONS OF Ron'r/o/v 0F MOTOR/ E4 (FOR aocxwlss ROTATION F 2Q Momn /f l \so 72 3a 3/ 4 INVENTOI? JOHN W DAWSON Patented May 3, i949 INDUCTION MOTOR CONTROL SYSTEM John W. Dawson, West Newton, Mass, assignor to Raytheon Manufacturing Company, Newton, Mass., a corporation of Delaware Application March 1, 1946, Serial No. 651,079

6 Claims.

This invention relates to control systems, and more particularly to a circuit for controlling twophase electric motors.

An object of the invention is to provide a means for controlling high-powered motors without the necessity of using high-capacity control equipment.

Another object of this invention is to devise a circuit whereby motors of high power may be controlled with the expenditure of only a small amount of power for control purposes.

A further object is to provide a means for simultaneously and smoothly varying both phase voltages applied to a two-phase motor.

A still further object of the invention is to accomplish the above objects in a relatively inexpensive manner.

The foregoing and other objects of the invention will be best understood from the following description of an exemplification thereof, reference being had to the accompanying drawings, wherein:

Fig. 1 is a diagrammatic representation of an embodiment of the invention;

Fig. 2 is a schematic representation of a modification of an element of Fig. 1; and

Fig. 3 is a vector diagram illustrating certain principles of operation of Fi 1.

In Fig. l, a two-phase induction motor I is the motor which is to be controlled. This motor includes a rotor 2, for example of the wound type, having a high resistance and two separate stator windings 3 and 4 displaced ninety degrees from each other. One end of each of the windings 3 and 4 is connected to a common termina1 5. Two brush-type continuously-variable autotransformers 6 and l are provided. Transformer 6 comprises a winding 8 having two end terminals 9 and Ill and a midtap ll, together with a brush or contact |2, the position of which is continuously variable along said winding. Transformer 1 comprises a winding |3 having two end terminals l4 and I and a midtap l6. together with a brush or contact H, the position of which is continuously variable along said winding. Winding i3 is represented as being longer than winding 8, for reasons that will be explained hereinafter. The two halves |3a and l3b of winding l3 are wound in opposite directions, half |3a being wound in a clockwise direction for example, while half |3b may be wound in a countercloclswise direction.

A three-phase alternating current source I8 is provided, having three leads I9, 20, and 2| connected thereto. Lead is connected to one end terminal ll) of winding 8, while lead 2| is connected to the other end terminal 9 of winding 8, thereby effectively establishing the voltage of one phase of the source across winding 8. Lead I9 is connected to the two end terminals 1 4 and I5 of winding l3. Midtaps II and I6 are connected together and to the common terminal 5 of phase windings 3 and 4. The lead from brush I2 is connected to the end terminal of winding 4 which is opposite from terminal 5, while the lead from brush I! is connected to the end terminal of winding 3 which is opposite from terminal 5. It may therefore be seen that the voltage applied to phase 4 of motor is that provided between brush l2 and midtap I, while the voltage applied to phase 3 of motor is that appearing between brush I1 and midtap l6.

Brushes I2 and I! are mechanically connected together, as indicated at 22, so as to be moved simultaneously and in synchronism by a common operating means 23. This operating means 23 may be either a motor or a solenoid. If means 23 is a motor, the rotary motion thereof may be converted to translatory motion to move the brushes by any suitable means. It means 23 is a solenoid, which inherently produces translatory motion, the operating plunger thereof may, for 7 example, be connected directly to the brush arms. Although windings 8 and I3 have been represented as being linearly disposed, it will be appreciated by those skilled in the art that said windings may be wound in circular form if desired, in which event the brushes I2 and I1 will also move in a circular path and the rotary movement of motor 23 may be utilized to operate brushes l2 and I1 through any suitable gearing. The operating means 23 is in turn operated by the output of a servo amplifier 24. This servo amplifier may be any suitable low power amplifier which produces an output voltage in response to a change in a certain condition. It should contain suitable anti-hunt features, and is preferably of the electronic type.

Fig. 3 is a vector diagram showing certain relathis figure, points I9, 20, and 2| are shown at the vertices of an equilateral triangle representing the phase voltages of the three-phase source l8. Points II and I6 are connected together and, because I! is the midtap of winding 8 which is connected across leads 2|! and 2|, these points are located midway between 20 and 2| along the phase voltage vector 2(|-2|. If the source phase voltage is V, points II and IE will be located, in the diagram, a distance or 0.5 v. from 3 vertices 20 and 2|. Since point I. is halfway between vertices 20 and II, vector II, I! will be at right angles to vector 20, ii and will represent the voltage appearing in either half of winding l3. while vector 20, 2| will represent the voltage appearing in winding 6. Vector i6, I! has a length of 0.866 v. as will be apparent to those skilled in the art. As brush l2 travels from one end of winding 8 to the other, the voltage E4 (represented by vector ii-l2 in Fig. 3) applied to phase 4 of motor i will be varied in both magnitude and realtive polarity or direction, being equal to 0.5 v. when brush i2 is at one end ID of the winding, zero when it is at the midpoint of the winding, and again equal to 0.5 v. when it is at the opposite end 9, but of opposite relative polarity or direction, as will be seen from Fig. 3. In Fig. 3, vector iI-i2 indicates E4 for a opsltion of brush I2 on the 2l-9 side of midtap i I, while vector Ili2 indicates E4 for a position or brush I! an equal distance from midtap Ii but on the 20-I0 side thereof. Voltage E4 may be termed the cross-phase voltage of motor i, while voltage E: (the voltage applied to phase 3 of motor I) may be termed the reference-phase voltage of said motor. As brush Il travels along the winding l3, it will be apparent, from Fig. 3, that voltage E: (represented by vector i6i'l) varies, in amplitude only, along line iE-l 9. Therefore voltage E4 is always displaced in phase ninety degrees from voltage E: but lags or leads E3 depending on whether brush i2 is on one side or the other of midtap i I. As voltage E4 is varied, in amplitude and relative phase. by the movement of brush ii, the speed and direction of rotation of motor I will be correspondingl continuously varied, from a maximum speed in one direction, through standstill to a maximum speed in the opposlte direction.

It has been found desirable to vary the reference-phase voltage, along with the cross-phase voltage, in order to prevent the very high heating attendant on constant excitation of the reference phase. According to the invention, the two motor-phase voltages are maintained equal in amplitude at all times, both voltages being varied together because of the fact that brushes l2 and Il are moved synchronously and simultaneously by a common operating means. In Fig. 3, vector |6--|1 is equal in amplitude to vectors li-|2 and lli2' and represents the voltage applied to phase 3 f the motor for each of the two oppositely-directed voltages ii-I2 and lll2. If brush I! began at one end of winding l3 and travelled from one end of said winding to the other, the voltage E3 would vary in magnitude from 0.866 v., to zero at the midtap i6, and back to 0.866 v. at the opposite end of the winding, as will be seen from an examination of Fig. 3. This voltage would not vary in relative polarity or direction because the two ends of the winding i3 are connected to the same phase lead of the three-phase source. If the voltage of the reference phase is to be maintained equal in value to the voltage of the cross phase at all times, it is necessary that winding i3 be of greater length than winding 8, so that when brush I2 is at either limit of its movement, brush i'l will be at such a distance from the corresponding end of winding l3 that a voltage of 0.5 v. will be applied to phase 3 of motor I, since at this position of brush l2, the cross phase voltage E, has a value of 0.5 v., as described above. In Fig. 3, point A is on line i6-i at a distance of 0.5 v. from point I 6, and represents the extreme limits of travel of brush H. or the maximum values of voltage Ea applied to motor winding I. If the two windings I and ii are of linear construction, the ratio between the half-lengths of windings 8 and I3 will be Since brushes l2 and H are mechanically connected together to be operated simultaneously and synchronously by the motor 23, the amplitudes of both motor-phase voltages will be varied in like manner at all times and willbe equal at all times. By variation of the amplitude and also the relative polarity of one of the phase voltages, complete control of the speed of motor I may be had.

The motor I is designed to produce a substantial torque at low motor speeds. Its rotor 2 is therefore of the wound type and ordinarily has a high resistance. At low speeds of induction motor I, the slip will be high and consequently a large current will be induced in the rotor. This large current flowing through the high resistance of the rotor will produce a large amount of heat in the motor itself, which may be detrimental to the operation of the motor. In order to avoid this detriment. the rotor schematically shown in Fig. 2 may be used in the motor of Fig. 1. In Fig. 2, a rotor 25 has a three-phase lowresistance winding 36 thereon, this winding 36 being connected in any desired manner, for example star-connected as shown. The three terminals of winding 36 are connected to three slip rings 26, 21, and 28 on which bear brushes 2!, 30, and iii, respectively, to which are attached leads 32, 33, and 34, respectively. Leads 32, 33, and 34 are connected to the three vertices of a delta-connected resistance network 35. When the rotor 25 of Fig. 2 is used in the motor i of Fig. 1, high currents induced in rotor 25 at low motor speeds do not produce any appreciable amount of heat in the motor itself due to the extremely low resistance of the rotor. These currents are conducted, by means of the sliprings and leads, to the resistance network 35, where most of the heat or RP loss will be dissipated, but where it may be efilciently disposed 01', since the network is remote from the motor itself.

The brushes l2 and ll of the transformers require only a small amount of force to move them, while the motor i may be one of rather large power. Therefore, the transformers 6 and I act in eiTect as power amplifiers. Due to the small amount of torque required from motor 23, the servo amplifier 24 is required to have only a small power output, so that large power tubes are not required in this amplifier, as would be necessary if the amplifier were to be used directly as the power source for the high-powered motor. The circuit of this invention will provide a powerful variable-speed drive, without a commutator and its attendant disadvantages. By the use of this invention, pure sine wave voltages may be supplied to the motor phases, which is not always possible with other circuits.

Of course, it is to be understood that this invention is not limited to the particular details as described above, as many equivalents will suggest themselves to those skilled in the art. It is accordingly desired that the appended claims be given a broad interpretation commensurate with the scope of this invention within the art.

What is claimed is:

1. A motor control circuit comprising a twophase A. C. motor the speed of which is to be controlled, said motor having separate windings for each phase, a three-phase alternating current source having three terminals, a pair of transformer windings each having a continuouslyvariable contact thereon, one of said transformer windings comprising two sections wound in opposite directions and connected at their junction to the mid-point of the other of said transformer windings, circuit means connecting the two ends of said one transformer winding together and to one of said terminals and the two ends of said other transformer winding to the other two of said terminals, means connecting each of said contacts to one of the windings of said motor, and means for simultaneously varying the positions of said contacts on their respective windings.

2. A motor control circuit comprising a twophase A. C. motor the speed of which is to be controlled, said motor having separate windings for each phase, a three-phase alternating current source having three leads, a pair of transformer windings each having a continuouslyvariable contact thereon, means connecting one of said transformer windings between two of said leads, means connecting both ends of the other of said transformer windings to the third of said leads, means connecting each of said contacts to one of the windings of said motor, and means for varying the positions of said contacts on their respective windings simultaneously and in the same direction.

3. A motor control circuit comprising a twophase A. 0. motor the speed of which is to be controlled, said motor having two separate phase windings with a common terminal, a three-phase alternating current source, a pair of transformer windings each having a midtap and a continuously-variable contact thereon, means connecting said transformer windings to said source,

, means connecting said two midtaps together and to said common terminal, means connecting one of said contacts to a terminal of one of said motor windings opposite from said common terminal, means connecting the other of said contacts to a terminal of the other of said motor windings opposite from said common terminal, and means for varying the positions of said contacts on their respective windings simultaneously and in the same direction.

4. A motor control circuit comprising a twophase A. C. motor the speed of which is to be controlled, said motor including two separate windings having a common terminal, a threephase alternating current source, a pair of transformer windings each having a midtap and a continuously-variable contact thereon, one of said transformer windings having its two halves wound in opposite directions, means connecting said transformer windings to said source, means connecting said two midtaps together and to said common terminal, means connecting one of said contacts to a terminal of one of said motor windings opposite from said common terminal, means connecting the other of said contacts to a terminal of the other of said motor windings opposite from said common terminal, and means for varying the positions of said contacts on their respective windings simultaneously and in the same direction.

5. A motor control circuit comprising a twophase A. C. motor the speed of which is to be controlled, saidmotor including two separate windings having a common terminal, a threephase alternating current source, a pair of transformer windings each having a midtap and a continuously-variable contact thereon, means connecting said transformer windings to said source, means connecting said two -midtaps together and to said common terminal, means connecting one of said contacts to a terminal of one of said motor windings opposite from said common terminal, means connecting the other of said contacts to a terminal of the other of said motor windings opposite from said common terminal, and means for varying the positions of said contacts on their respective windings simultaneously and in the same direction, said last means and said transformer windings being arranged in such a manner that the contact on one of said transformer windings does not travel over the full length of its winding.

6. A motor control circuit comprising a twophase A. C. motor the speed of which is to be controlled, said motor including two separate windings having a common terminal, a threephase alternating current source having three leads, a pair of transformer windings each having a midtap and a continuously-variable contact thereon, one of said transformer windings having its two halves wound in opposite directions, means connecting both ends of said one transformer winding to one of said leads, means connecting the other of said transformer windings between the other two of said leads, means connecting said two midtaps together and to said common terminal, means connecting one of said contacts to a terminal of one of said motor windings opposite from said common terminal, means connecting the other of said contacts to a terminal of the other of said motor windings opposite from said common terminal, and means for varying the positions of said contacts on their respective windings simultaneously and in the same direction.

JOHN W. DAWSON.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS Number Name Date 591,879 Reist Oct. 19, 1897 609,990 Lamme Aug. 30, 1898 726,391 Armstrong et a1. Apr. 28, 1903 729,199 Meyer May 29, 1903 1,696,964 Morrison -1 Jan. 1, 1929 1,713,223 I, Green May 14, 1929 2,228,078 Gulliksen E Jan. '1, 1941 

